diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..3a626c3
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: monthly
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index bb68480..d2401d9 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -1,16 +1,37 @@
-name: Code style checks
+name: Quality checks
 
 on:
   pull_request:
   push:
-    branches: [main]
+    branches: [master]
+
+permissions:
+  contents: read
+
+concurrency:
+  group: quality-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
-  pre-commit:
+  format:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7.0.1
+      - uses: prefix-dev/setup-pixi@v0.10.2
+        with:
+          pixi-version: v0.79.0
+          cache: true
+          environments: format
+      - run: pixi run --locked -e format lint
+
+  test:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
-      - name: Install cppcheck
-        run: sudo apt install cppcheck -y
-      - uses: pre-commit/action@v3.0.0
+      - uses: actions/checkout@v7.0.1
+      - uses: prefix-dev/setup-pixi@v0.10.2
+        with:
+          pixi-version: v0.79.0
+          cache: true
+          environments: default
+      - run: pixi run --locked test
+      - run: pixi run --locked package
diff --git a/.gitignore b/.gitignore
index 86f52e1..e7e49ec 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,200 +1,19 @@
-# Created by .ignore support plugin (hsz.mobi)
-### JetBrains template
-# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
-# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
-
-# auto-generated documentation
-**/docs/_build
-**/docs/_out
-**/docs/cppapi
-**/docs/pyapi
-
-# User-specific stuff:
-.idea/workspace.xml
-.idea/tasks.xml
-.idea/*
-
-# Sensitive or high-churn files:
-.idea/dataSources/
-.idea/dataSources.ids
-.idea/dataSources.xml
-.idea/dataSources.local.xml
-.idea/sqlDataSources.xml
-.idea/dynamic.xml
-.idea/uiDesigner.xml
-
-# Gradle:
-.idea/gradle.xml
-.idea/libraries
-
-# Mongo Explorer plugin:
-.idea/mongoSettings.xml
-
-## File-based project format:
-*.iws
-
-## Plugin-specific files:
-
-# IntelliJ
-/out/
-
-# mpeltonen/sbt-idea plugin
-.idea_modules/
-
-# JIRA plugin
-atlassian-ide-plugin.xml
-
-# Crashlytics plugin (for Android Studio and IntelliJ)
-com_crashlytics_export_strings.xml
-crashlytics.properties
-crashlytics-build.properties
-fabric.properties
-### ROS template
-build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-*/cfg/cpp/
-*/src/*/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
-*.pyc
-qtcreator-*
-*.user
-
-/planning/cfg
-/planning/docs
-/planning/src
-
-*~
-
-# Emacs
-.#*
-
-# Catkin custom files
-CATKIN_IGNORE
-### Python template
-# Byte-compiled / optimized / DLL files
+.pixi/
+.venv/
+.idea/
+.vscode/
 __pycache__/
 *.py[cod]
-*$py.class
-
-# C extensions
-*.so
-
-# Distribution / packaging
-.Python
-env/
-develop-eggs/
-dist/
-downloads/
-eggs/
-.eggs/
-lib64/
-parts/
-sdist/
-var/
 *.egg-info/
-.installed.cfg
-*.egg
-
-# PyInstaller
-#  Usually these files are written by a python script from a template
-#  before PyInstaller builds the exe, so as to inject date/other infos into it.
-*.manifest
-*.spec
-
-# Installer logs
-pip-log.txt
-pip-delete-this-directory.txt
-
-# Unit test / coverage reports
-htmlcov/
-.tox/
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
 .coverage
 .coverage.*
-.cache
-nosetests.xml
 coverage.xml
-*,cover
-.hypothesis/
-
-# Translations
-*.mo
-*.pot
-
-# Django stuff:
-*.log
-local_settings.py
-
-# Flask stuff:
-instance/
-.webassets-cache
-
-# Scrapy stuff:
-.scrapy
-
-# Sphinx documentation
+htmlcov/
+build/
+dist/
+install/
+log/
 docs/_build/
-
-# PyBuilder
-target/
-
-# Jupyter Notebook
-.ipynb_checkpoints
-
-# pyenv
-.python-version
-.pyenv2
-
-# celery beat schedule file
-celerybeat-schedule
-
-# dotenv
-.env
-
-# virtualenv
-.venv/
-venv/
-ENV/
-
-# Spyder project settings
-.spyderproject
-
-# Rope project settings
-.ropeproject
-
-# auto-generated documentation
-**/docs/_build
-**/docs/_out
-**/docs/cppapi
-**/docs/pyapi
-
-.ruff_cache/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index bf0ee01..71bf76b 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,20 +1,22 @@
 repos:
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.1.6
-  hooks:
-    - id: ruff
-      args:
-        - "--fix"
-        - "--exit-non-zero-on-fix"
-    - id: ruff-format
-- repo: https://github.com/pocc/pre-commit-hooks
-  rev: v1.3.5
-  hooks:
-    - id: clang-format
-      args:
-        - "-i"
-    - id: cppcheck
-      args:
-        - "--suppress=missingInclude"
-        - "--suppress=unmatchedSuppression"
-        - "--suppress=unusedFunction"
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.16.10
+    hooks:
+      - id: ruff-check
+        args: [--fix, --exit-non-zero-on-fix, --show-fixes]
+      - id: ruff-format
+        stages: [pre-commit]
+      - id: ruff-format
+        name: ruff-format (diff)
+        args: [--diff]
+        stages: [manual]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    hooks:
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 0000000..0de83dc
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,37 @@
+# Developing DSD
+
+Use [Pixi](https://pixi.sh) to run checks in the same locked environment as CI.
+The default environment contains Python test tools and the ROS dependencies used
+by the core. The visualization environment adds RQT and Qt; the format environment
+contains only code quality tools.
+
+```sh
+pixi run --locked test
+pixi run --locked package
+pixi run --locked -e format format
+pixi run --locked -e format lint
+```
+
+`format` applies fixes. Review its changes before committing. `lint` checks
+formatting without applying formatter changes, following the `bitbots_main`
+pre-commit stages. C++ and CMake hooks are omitted because this repository has
+neither language.
+
+When changing dependencies, edit `pixi.toml`, run `pixi install` to regenerate the
+lockfile, and commit both files. Keep ROS and GUI dependencies out of the format
+environment. ROS package dependencies also belong in the corresponding
+`package.xml`; ordinary Python runtime dependencies belong in `setup.py`.
+
+Both packages retain their ament Python layout and support standard Python
+distribution builds. `package` builds source distributions and wheels and checks
+that ROS resources are present and test fixtures are excluded.
+
+Add focused regression tests for parser or runtime changes. Runtime tests use
+small fake elements and assert observable stack and event behavior. Tests that
+exercise DDS or Qt belong alongside the relevant package's tests and must run
+with their real dependencies. Report hardware validation separately from these
+checks.
+
+Changes to scheduling, action outcomes, error recovery, parameter syntax, or
+registration should describe compatibility and migration. Use issues to compare
+options before introducing a new public contract.
diff --git a/LICENSE b/LICENSE
index 7e9cb8f..9a25cc9 100644
--- a/LICENSE
+++ b/LICENSE
@@ -16,4 +16,4 @@ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
\ No newline at end of file
+SOFTWARE.
diff --git a/dynamic_stack_decider/MANIFEST.in b/dynamic_stack_decider/MANIFEST.in
new file mode 100644
index 0000000..bb3ec5f
--- /dev/null
+++ b/dynamic_stack_decider/MANIFEST.in
@@ -0,0 +1 @@
+include README.md
diff --git a/dynamic_stack_decider/README.md b/dynamic_stack_decider/README.md
new file mode 100644
index 0000000..9ebb6bb
--- /dev/null
+++ b/dynamic_stack_decider/README.md
@@ -0,0 +1,7 @@
+# dynamic_stack_decider
+
+A framework for persistent actions selected by reevaluable decision trees.
+
+See the [repository documentation](https://github.com/bit-bots/dynamic_stack_decider)
+for usage and development instructions. ROS dependencies are installed through
+rosdep or the repository's Pixi environment.
diff --git a/dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py b/dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py
index 866b3c0..d60081c 100644
--- a/dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py
+++ b/dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py
@@ -1,5 +1,5 @@
 from abc import ABCMeta, abstractmethod
-from typing import TYPE_CHECKING, Union
+from typing import TYPE_CHECKING
 
 from dynamic_stack_decider.logger import get_logger
 
@@ -68,7 +68,7 @@ def perform(self, reevaluate=False):
 
         :param reevaluate: True if the current method call is a reevaluate of the state. Meaning the module is not on top of the stack.
         """
-        msg = "You should override perform() in %s" % self.__class__.__name__
+        msg = f"You should override perform() in {self.__class__.__name__}"
         raise NotImplementedError(msg)
 
     def interrupt(self):
@@ -77,7 +77,7 @@ def interrupt(self):
         """
         self._dsd.interrupt()
 
-    def publish_debug_data(self, label: str, data: Union[dict, list, int, float, str, bool]):
+    def publish_debug_data(self, label: str, data: dict | list | int | float | str | bool):
         """
         Publish debug data. Can be viewed using the DSD visualization
 
diff --git a/dynamic_stack_decider/dynamic_stack_decider/dsd.py b/dynamic_stack_decider/dynamic_stack_decider/dsd.py
index 68eeafa..11ca3ca 100644
--- a/dynamic_stack_decider/dynamic_stack_decider/dsd.py
+++ b/dynamic_stack_decider/dynamic_stack_decider/dsd.py
@@ -5,7 +5,6 @@
 import sys
 import traceback
 from pathlib import Path
-from typing import Optional
 
 from rclpy.node import Node
 from rclpy.qos import DurabilityPolicy, QoSProfile
@@ -48,9 +47,9 @@ def discover_module_elements(module_name):
             elements.update(
                 inspect.getmembers(
                     module,
-                    lambda m: inspect.isclass(m)
-                    and inspect.getmodule(m) == module
-                    and issubclass(m, AbstractStackElement),
+                    lambda m: (
+                        inspect.isclass(m) and inspect.getmodule(m) == module and issubclass(m, AbstractStackElement)
+                    ),
                 )
             )
         except Exception as e:
@@ -106,9 +105,9 @@ class DSD:
     stack_reevaluate = False
     do_not_reevaluate = False
     old_representation = ""
-    debug_active_action_cache: Optional[str] = None
+    debug_active_action_cache: str | None = None
 
-    def __init__(self, blackboard, debug_topic: str = None, node: Optional[Node] = None):
+    def __init__(self, blackboard, debug_topic: str = None, node: Node | None = None):
         """
         :param blackboard: Blackboard instance which will be available to all modules
         :param debug_topic:  Topic on which debug data should be published
@@ -117,7 +116,7 @@ def __init__(self, blackboard, debug_topic: str = None, node: Optional[Node] = N
         self.blackboard = blackboard
         self.node = node
 
-        self.tree: Optional[Tree] = None
+        self.tree: Tree | None = None
         # The stack is implemented as a list of tuples consisting of the tree element
         # and the actual module instance
         self.stack: list[tuple[AbstractTreeElement, AbstractStackElement]] = []
@@ -182,17 +181,17 @@ def _bind_modules(self, element):
         :param element: The starting element
         """
         if isinstance(element, ActionTreeElement):
-            assert (
-                element.name in self.actions
-            ), f'Provided element "{element.name}" was not found in registered actions!'
+            assert element.name in self.actions, (
+                f'Provided element "{element.name}" was not found in registered actions!'
+            )
             element.module = self.actions[element.name]
             # Bind the rest of the chain (e.g. the following actions of a sequence)
             if element.next_element is not None:
                 self._bind_modules(element.next_element)
         elif isinstance(element, DecisionTreeElement):
-            assert (
-                element.name in self.decisions
-            ), f'Provided element "{element.name}" was not found in registered decisions!'
+            assert element.name in self.decisions, (
+                f'Provided element "{element.name}" was not found in registered decisions!'
+            )
             element.module = self.decisions[element.name]
             for child in element.children.values():
                 self._bind_modules(child)
diff --git a/dynamic_stack_decider/dynamic_stack_decider/parser.py b/dynamic_stack_decider/dynamic_stack_decider/parser.py
index 0b61e43..2f6e78c 100644
--- a/dynamic_stack_decider/dynamic_stack_decider/parser.py
+++ b/dynamic_stack_decider/dynamic_stack_decider/parser.py
@@ -1,6 +1,5 @@
 import copy
 import re
-from typing import Optional
 
 import yaml
 from rclpy.node import Node
@@ -9,7 +8,7 @@
 
 
 class DsdParser:
-    def __init__(self, node: Optional[Node] = None):
+    def __init__(self, node: Node | None = None):
         self.node = node
 
     def parse(self, file_path: str) -> Tree:
@@ -266,12 +265,8 @@ def _lookup_subtree(self, call, lnr, subtrees):
         subtree = subtrees[name]
         if (set(parameters.keys()) | set(unset_parameters.keys())) != set(subtree.parameter_list):
             raise ParseError(
-                "Error parsing line {}: Invalid parameters specified.\n"
-                "Available parameters are {}, specified parameters are {}.".format(
-                    lnr,
-                    set(parameters.keys()) | set(unset_parameters.keys()),
-                    set(subtree.parameter_list),
-                )
+                f"Error parsing line {lnr}: Invalid parameters specified.\n"
+                f"Available parameters are {set(parameters.keys()) | set(unset_parameters.keys())}, specified parameters are {set(subtree.parameter_list)}."
             )
         return subtree, parameters, unset_parameters
 
diff --git a/dynamic_stack_decider/dynamic_stack_decider/tree.py b/dynamic_stack_decider/dynamic_stack_decider/tree.py
index 77481ce..bc99048 100644
--- a/dynamic_stack_decider/dynamic_stack_decider/tree.py
+++ b/dynamic_stack_decider/dynamic_stack_decider/tree.py
@@ -7,7 +7,7 @@ class Tree:
 
     def __init__(self):
         # The root element of the tree
-        self.root_element: Optional[AbstractTreeElement] = None
+        self.root_element: AbstractTreeElement | None = None
         self.parameter_list = []
 
     def set_root_element(self, element: "AbstractTreeElement"):
@@ -38,8 +38,8 @@ def __init__(
         self,
         name: str,
         parent: Optional["AbstractTreeElement"],
-        parameters: Optional[dict] = None,
-        unset_parameters: Optional[dict] = None,
+        parameters: dict | None = None,
+        unset_parameters: dict | None = None,
     ):
         self.name = name
         self.parent = parent
@@ -102,7 +102,7 @@ def add_child_element(self, element: AbstractTreeElement, activating_result: str
         self.children[activating_result] = element
         element.set_activation_reason(activating_result)
 
-    def get_child(self, activating_result: str) -> Optional[AbstractTreeElement]:
+    def get_child(self, activating_result: str) -> AbstractTreeElement | None:
         """Get the child for a given result"""
         if not activating_result:
             # give advice about error
@@ -159,7 +159,7 @@ def __init__(self, name, parent, parameters=None, unset_parameters=None):
         super().__init__(name, parent, parameters, unset_parameters)
         # The element that is activated when this action pops itself. None if this
         # action is the last (or only) element in its chain.
-        self.next_element: Optional[AbstractTreeElement] = None
+        self.next_element: AbstractTreeElement | None = None
 
     def set_activation_reason(self, reason):
         """Set the activation reason for this action and propagate it along the chain"""
diff --git a/dynamic_stack_decider/package.xml b/dynamic_stack_decider/package.xml
index 12336bc..8b07dab 100644
--- a/dynamic_stack_decider/package.xml
+++ b/dynamic_stack_decider/package.xml
@@ -18,8 +18,7 @@
 
   <license>MIT</license>
 
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <buildtool_depend>ament_python</buildtool_depend>
 
   <depend>rclpy</depend>
   <depend>std_msgs</depend>
diff --git a/dynamic_stack_decider/pyproject.toml b/dynamic_stack_decider/pyproject.toml
new file mode 100644
index 0000000..642ab3c
--- /dev/null
+++ b/dynamic_stack_decider/pyproject.toml
@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=68", "wheel"]
+build-backend = "setuptools.build_meta"
diff --git a/dynamic_stack_decider/setup.py b/dynamic_stack_decider/setup.py
index 832e247..ea7cbe6 100644
--- a/dynamic_stack_decider/setup.py
+++ b/dynamic_stack_decider/setup.py
@@ -4,16 +4,16 @@
 
 setup(
     name=package_name,
-    packages=find_packages(exclude=["tests"]),
+    version="0.5.3",
+    description="Persistent actions selected by reevaluable decision trees",
+    python_requires=">=3.10",
+    packages=find_packages(exclude=["test", "test.*", "tests", "tests.*"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
     ],
-    install_requires=[
-        "setuptools",
-    ],
-    tests_require=["pytest"],
-    zip_safe=True,
+    install_requires=["PyYAML>=6"],
+    zip_safe=False,
     keywords=["ROS"],
     license="MIT",
     entry_points={},
diff --git a/dynamic_stack_decider/test/test_discovery.py b/dynamic_stack_decider/test/test_discovery.py
index cc22dd4..19d617e 100644
--- a/dynamic_stack_decider/test/test_discovery.py
+++ b/dynamic_stack_decider/test/test_discovery.py
@@ -7,7 +7,6 @@
 import os
 
 import pytest
-
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 from dynamic_stack_decider.dsd import DSD, discover_elements
diff --git a/dynamic_stack_decider/test/test_elements.py b/dynamic_stack_decider/test/test_elements.py
index 6204f85..32bcc58 100644
--- a/dynamic_stack_decider/test/test_elements.py
+++ b/dynamic_stack_decider/test/test_elements.py
@@ -5,7 +5,6 @@
 """
 
 import pytest
-
 from dynamic_stack_decider.abstract_stack_element import AbstractStackElement
 
 from .runtime_elements import Blackboard, Chooser, Guard, Idle
diff --git a/dynamic_stack_decider/test/test_parser.py b/dynamic_stack_decider/test/test_parser.py
index b8a5bc3..fabde59 100644
--- a/dynamic_stack_decider/test/test_parser.py
+++ b/dynamic_stack_decider/test/test_parser.py
@@ -1,7 +1,6 @@
 import os
 
 import pytest
-
 from dynamic_stack_decider.parser import DsdParser, Tree
 from dynamic_stack_decider.tree import ActionTreeElement, DecisionTreeElement
 
diff --git a/dynamic_stack_decider/test/test_parser_errors.py b/dynamic_stack_decider/test/test_parser_errors.py
index b55c144..4afaf32 100644
--- a/dynamic_stack_decider/test/test_parser_errors.py
+++ b/dynamic_stack_decider/test/test_parser_errors.py
@@ -8,7 +8,6 @@
 import tempfile
 
 import pytest
-
 from dynamic_stack_decider.parser import DsdParser, ParseError
 
 
diff --git a/dynamic_stack_decider/test/test_runtime.py b/dynamic_stack_decider/test/test_runtime.py
index 189b37d..664538d 100644
--- a/dynamic_stack_decider/test/test_runtime.py
+++ b/dynamic_stack_decider/test/test_runtime.py
@@ -10,7 +10,6 @@
 import json
 
 import pytest
-
 from dynamic_stack_decider.abstract_action_element import AbstractActionElement
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
 
diff --git a/dynamic_stack_decider/test/test_tree.py b/dynamic_stack_decider/test/test_tree.py
index f129f27..41b9799 100644
--- a/dynamic_stack_decider/test/test_tree.py
+++ b/dynamic_stack_decider/test/test_tree.py
@@ -5,7 +5,6 @@
 """
 
 import pytest
-
 from dynamic_stack_decider.tree import ActionTreeElement, DecisionTreeElement, Tree
 
 
diff --git a/dynamic_stack_decider_visualization/MANIFEST.in b/dynamic_stack_decider_visualization/MANIFEST.in
new file mode 100644
index 0000000..bb3ec5f
--- /dev/null
+++ b/dynamic_stack_decider_visualization/MANIFEST.in
@@ -0,0 +1 @@
+include README.md
diff --git a/dynamic_stack_decider_visualization/README.md b/dynamic_stack_decider_visualization/README.md
new file mode 100644
index 0000000..b5217e2
--- /dev/null
+++ b/dynamic_stack_decider_visualization/README.md
@@ -0,0 +1,7 @@
+# dynamic_stack_decider_visualization
+
+An RQT plugin for inspecting DSD behavior trees, active stacks, and debug data.
+
+See the [repository documentation](https://github.com/bit-bots/dynamic_stack_decider)
+for usage and development instructions. ROS dependencies are installed through
+rosdep or the repository's Pixi environment.
diff --git a/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_follower.py b/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_follower.py
index 3a6647f..9e6fb40 100644
--- a/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_follower.py
+++ b/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_follower.py
@@ -1,6 +1,5 @@
 import json
 import uuid
-from typing import Optional, Union
 
 import pydot
 from PyQt5.QtGui import QStandardItem, QStandardItemModel
@@ -27,10 +26,10 @@ def __init__(self, node: Node, debug_topic: str):
 
         self.dsd_debug_topic = debug_topic
 
-        self.tree: Optional[dict] = None
-        self.stack: Optional[dict] = None
+        self.tree: dict | None = None
+        self.stack: dict | None = None
 
-        self._cached_dotgraph: Optional[pydot.Dot] = None
+        self._cached_dotgraph: pydot.Dot | None = None
 
         # Subscribe to the DSDs tree (latched)
         dsd_tree_topic = f"{debug_topic}/dsd_tree"
@@ -78,7 +77,7 @@ def stack_dict_changed(old_stack_element, new_stack_element, ignore_keys) -> boo
         """
         Check if two stack dicts are different
         """
-        if type(old_stack_element) != type(new_stack_element):
+        if type(old_stack_element) is not type(new_stack_element):
             return True
         elif isinstance(old_stack_element, dict):
             # Check if the length of the stack changed
@@ -136,7 +135,7 @@ def _empty_item_model():
         return QStandardItemModel()
 
     @staticmethod
-    def _dot_node_from_tree_element(tree_element: dict, stack_element: Optional[dict] = None) -> pydot.Node:
+    def _dot_node_from_tree_element(tree_element: dict, stack_element: dict | None = None) -> pydot.Node:
         """
         :param tree_element: The node from the dsd tree which should be converted to a dot node
         :param stack_element: The corresponding element from the stack
@@ -159,12 +158,12 @@ def param_string(params: dict) -> str:
 
         # Sanity check
         if stack_element is not None:
-            assert (
-                stack_element["type"] == tree_element["type"]
-            ), f"The stack and the tree do not match (element type mismatch: {stack_element['type']} vs. {tree_element['type']})"
-            assert (
-                stack_element["name"] == tree_element["name"]
-            ), f"The stack and the tree do not match (element name mismatch: {stack_element['name']} vs. {tree_element['name']})"
+            assert stack_element["type"] == tree_element["type"], (
+                f"The stack and the tree do not match (element type mismatch: {stack_element['type']} vs. {tree_element['type']})"
+            )
+            assert stack_element["name"] == tree_element["name"], (
+                f"The stack and the tree do not match (element name mismatch: {stack_element['name']} vs. {tree_element['name']})"
+            )
 
         # Initialize parameters of the dot node we are going to create
         dot_node_params = {
@@ -188,7 +187,7 @@ def param_string(params: dict) -> str:
         return pydot.Node(**dot_node_params)
 
     @staticmethod
-    def _stack_matches_tree(stack_element: Optional[dict], tree_element: dict) -> bool:
+    def _stack_matches_tree(stack_element: dict | None, tree_element: dict) -> bool:
         """
         Check whether a stack element corresponds to a given tree element.
 
@@ -199,7 +198,7 @@ def _stack_matches_tree(stack_element: Optional[dict], tree_element: dict) -> bo
         return stack_element is not None and stack_element["id"] == tree_element["id"]
 
     def _stack_to_dotgraph(
-        self, dot: pydot.Dot, subtree_root: dict, stack_root: Optional[dict] = None, full_tree: bool = False
+        self, dot: pydot.Dot, subtree_root: dict, stack_root: dict | None = None, full_tree: bool = False
     ) -> (pydot.Dot, str):
         """
         Recursively modify dot to include every element of the stack
@@ -251,7 +250,7 @@ def _stack_to_dotgraph(
         return dot, dot_node.get_name()
 
     def _append_debug_data_to_item(
-        self, parent_item: QStandardItem, debug_data: Union[dict, list, int, float, str, bool]
+        self, parent_item: QStandardItem, debug_data: dict | list | int | float | str | bool
     ):
         """
         Appends debug_data of a given element and its children to a QStandardItem.
diff --git a/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_visualization_plugin.py b/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_visualization_plugin.py
index eb1279d..ff67e5c 100644
--- a/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_visualization_plugin.py
+++ b/dynamic_stack_decider_visualization/dynamic_stack_decider_visualization/dsd_visualization_plugin.py
@@ -31,7 +31,6 @@
 import os
 import sys
 import uuid
-from typing import Optional
 
 import pydot
 from ament_index_python import get_package_share_directory
@@ -58,7 +57,7 @@ def __init__(self, context):
 
         # Ensure startup state
         self.freeze = False  # Controls whether the state should be updated from remote
-        self.dsd_follower: Optional[DsdFollower] = None
+        self.dsd_follower: DsdFollower | None = None
         self.running_dsd_instances: dict[str, str] = {}
         self._init_plugin(context)
 
diff --git a/dynamic_stack_decider_visualization/package.xml b/dynamic_stack_decider_visualization/package.xml
index 62dff5c..86bb279 100644
--- a/dynamic_stack_decider_visualization/package.xml
+++ b/dynamic_stack_decider_visualization/package.xml
@@ -5,8 +5,7 @@
   <version>0.2.1</version>
   <description>
     A Python GUI plugin to visualize the bitbots-dynamic-stack-decider (DSD)
-    <br />
-	Loosly based on rqt_graph
+    Based on rqt_graph
   </description>
   <maintainer email="7sell@informatik.uni-hamburg.de">Finn-Thorben Sell</maintainer>
   <maintainer email="info@bit-bots.de">Hamburg Bit-Bots</maintainer>
@@ -15,11 +14,13 @@
 
   <license>MIT</license>
 
+  <buildtool_depend>ament_python</buildtool_depend>
+  <exec_depend>ament_index_python</exec_depend>
+
   <exec_depend>dynamic_stack_decider</exec_depend>
   <exec_depend>python3-pyqt5</exec_depend>
   <exec_depend>qt_dotgraph</exec_depend>
   <exec_depend>rclpy</exec_depend>
-  <exec_depend>rosgraph_msgs</exec_depend>
   <exec_depend>rqt_gui_py</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
 
diff --git a/dynamic_stack_decider_visualization/pyproject.toml b/dynamic_stack_decider_visualization/pyproject.toml
new file mode 100644
index 0000000..642ab3c
--- /dev/null
+++ b/dynamic_stack_decider_visualization/pyproject.toml
@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=68", "wheel"]
+build-backend = "setuptools.build_meta"
diff --git a/dynamic_stack_decider_visualization/setup.cfg b/dynamic_stack_decider_visualization/setup.cfg
index 6b08d80..62e34ba 100644
--- a/dynamic_stack_decider_visualization/setup.cfg
+++ b/dynamic_stack_decider_visualization/setup.cfg
@@ -1,4 +1,4 @@
 [develop]
 script_dir=$base/lib/dynamic_stack_decider_visualization
 [install]
-install_scripts=$base/lib/dynamic_stack_decider/dynamic_stack_decider_visualization
+install_scripts=$base/lib/dynamic_stack_decider_visualization
diff --git a/dynamic_stack_decider_visualization/setup.py b/dynamic_stack_decider_visualization/setup.py
index 6ec67bf..851bd46 100644
--- a/dynamic_stack_decider_visualization/setup.py
+++ b/dynamic_stack_decider_visualization/setup.py
@@ -4,16 +4,18 @@
 
 setup(
     name=package_name,
-    packages=find_packages(),
+    version="0.2.1",
+    description="ROS 2 RQT visualization for the Dynamic Stack Decider",
+    python_requires=">=3.10",
+    packages=find_packages(exclude=["test", "test.*", "tests", "tests.*"]),
     data_files=[
         ("share/" + package_name + "/resource", ["resource/StackmachineViz.ui"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
         ("share/" + package_name, ["plugin.xml"]),
     ],
-    install_requires=["setuptools"],
-    tests_require=["pytest"],
-    zip_safe=True,
+    install_requires=["pydot>=3", "PyQt5>=5.15"],
+    zip_safe=False,
     entry_points={
         "console_scripts": [
             "dsd_gui = " + package_name + ".dsd_visualization_plugin:main",
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 0000000..e195b6c
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,6326 @@
+version: 7
+platforms:
+- name: linux-64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
+environments:
+  default:
+    channels:
+    - url: https://prefix.dev/robostack-jazzy/
+    - url: https://conda.anaconda.org/conda-forge/
+    packages:
+      linux-64:
+      - conda: https://prefix.dev/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/coverage-7.16.2-py312h8b7ec3f_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cppcheck-2.22.0-py312h3cdd867_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/fmt-12.1.0-h76c4fd7_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/foonathan-memory-0.7.4-h54a6638_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gmock-1.18.0-h48ecd08_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gtest-1.18.0-h171cf75_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/icu-78.3-py310h44b86e0_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/keyutils-1.6.3-h7cc23a3_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/krb5-1.22.2-hbc21106_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_102.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libacl-2.4.0-h1b0031e_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libattr-2.6.0-h11a17bc_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libblas-3.11.0-11_h4a7cf45_openblas.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libcblas-3.11.0-11_h0358290_openblas.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libcurl-8.22.0-ha042cf0_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libedit-3.1.20250104-pl5321h373387f_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libev-4.33-h280c20c_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libexpat-2.8.5-hd2095e1_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libffi-3.7.0-h81df57d_1.conda
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+      - conda: https://prefix.dev/conda-forge/linux-64/libgcc-ng-16.2.0-h69a702a_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libgfortran-16.2.0-h69a702a_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libgfortran5-16.2.0-h6b99dfc_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libgomp-16.2.0-he0feb66_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/liblapack-3.11.0-11_h47877c9_openblas.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/liblzma-5.8.3-hb03c661_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libnghttp2-1.68.1-h74cf4be_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libopenblas-0.3.34-pthreads_hf13c14d_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libpsl-0.23.1-hd9e3e90_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libpython-3.12.14-h0c77377_3_cpython.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libsqlite-3.53.4-h0737f62_102.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libssh2-1.11.1-h6154650_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libstdcxx-16.2.0-h934c35e_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libstdcxx-ng-16.2.0-hdf11a46_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/liburcu-0.14.0-hac33072_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libuuid-2.42.4-hcfc3c73_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libuv-1.52.1-h280c20c_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libxcrypt-4.4.38-h280c20c_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/lttng-ust-2.13.9-hf5eda4c_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/ncurses-6.6-hdb14827_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/numpy-2.5.3-py312he827f4e_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/openssl-3.6.5-h781a0a9_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/pcre-8.45-h9c3ff4c_0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/pkg-config-0.29.2-h1114479_1013.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/python-3.12.14-h5f976f7_3_cpython.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/pyyaml-6.0.3-py312h8a5da7c_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/readline-8.3-hd6e31c0_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/rhash-1.4.6-hb03c661_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/spdlog-1.17.0-hb6aa676_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/tinyxml2-11.0.0-hee9eb32_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/tk-8.6.13-noxft_h1df4ec4_4.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/uncrustify-0.83.0-h54a6638_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/yaml-0.2.5-hebe6cf0_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/yaml-cpp-0.8.0-h54a6638_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_7.conda
+      - conda: https://prefix.dev/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2026.7.22-hbd8a1cb_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/catkin_pkg-1.1.1-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/docutils-0.23-pyhcf101f3_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/empy-4.2.1-pyhcf101f3_0.conda
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+  - libgcc >=14
+  - libstdcxx >=14
+  - __glibc >=2.17,<3.0.a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0
+  run_exports: {}
+  size: 26380
+  timestamp: 1788189259964
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-rqt-gui-1.6.4-np2py312h2ed9cc7_21.conda
+  sha256: 2d79d5cc142a08b36db213847ec3fd30089124cb3f138dc19b251e0a02a57951
+  md5: 5ecc1205da4adb4c876d60dbd1735095
+  depends:
+  - catkin_pkg
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  run_exports: {}
+  size: 126725
+  timestamp: 1788193473051
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-rqt-gui-py-1.6.4-np2py312h2ed9cc7_21.conda
+  sha256: ad8a18cd4ff7291190b8ce713109ffb480cd856bfa826a301c2a8f4f811018ae
+  md5: be8cdb4708c2bcf2922686da157e05fd
+  depends:
+  - python
+  - ros-jazzy-qt-gui
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  run_exports: {}
+  size: 49988
+  timestamp: 1788212479442
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-rti-connext-dds-cmake-module-0.22.3-np2py312h2ed9cc7_21.conda
+  sha256: 48f8e38101825eb1a250a7307670de1a7539dbbc2807f39f8111afa24a2a7684
+  md5: 40fbff480faee82cbccb0a765726f52c
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: Apache-2.0
+  run_exports: {}
+  size: 31808
+  timestamp: 1788190531684
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-service-msgs-2.0.4-np2py312h2ed9cc7_21.conda
+  sha256: b2429eee55d20bb1f153f1891d41e08850827db3a76e9e3fab83c0862413e70f
+  md5: cf7fb7b4065a0c1bff3790303890e1ed
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: Apache-2.0
+  run_exports: {}
+  size: 82636
+  timestamp: 1788191452486
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-spdlog-vendor-1.6.2-np2py312h918b84f_21.conda
+  sha256: b7c68842234c1b0d9632897ce38e47c379dd7bf1e49a17f9b01b0757cbc0a425
+  md5: 34e8143333f1ebcc0e8a7ca3c7ca0a9e
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - spdlog
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.12.* *_cp312
+  - spdlog >=1.17.0,<1.18.0a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - fmt >=12.1.0,<12.2.0a0
+  - numpy >=1.25,<3
+  license: Apache-2.0 OR MIT
+  run_exports: {}
+  size: 27604
+  timestamp: 1788190233129
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-std-msgs-5.3.8-np2py312h2ed9cc7_21.conda
+  sha256: 1dd377610b887fc5f3f689e6475a1fc0910b9c6a76b113df12709211924e5a1a
+  md5: c1f6b3173533634239fb27de18559f85
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: Apache-2.0
+  run_exports: {}
+  size: 351337
+  timestamp: 1788191701184
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-tango-icons-vendor-0.3.1-np2py312h2ed9cc7_21.conda
+  sha256: f4ee8a7f02f23a05e6bec98ecf0d1970b7eca113e586084b78f6c2ae798fd8d0
+  md5: 5e20f816f9b7ce44505a44d6c621e41a
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: Apache-2.0 OR Unlicense
+  run_exports: {}
+  size: 26791
+  timestamp: 1788190282728
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-tracetools-8.2.6-np2py312h2ed9cc7_21.conda
+  sha256: 0cbd8c24d88f4a1ecaf1a91b2025ce154c83d084e281e465d80459e7e51a56b3
+  md5: 766885caad3fc9c85f2a7cdfe79d3120
+  depends:
+  - lttng-ust
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - lttng-ust >=2.13.9,<2.14.0a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: Apache-2.0
+  run_exports: {}
+  size: 72723
+  timestamp: 1788190590566
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-type-description-interfaces-2.0.4-np2py312h2ed9cc7_21.conda
+  sha256: 3deab4e5f767974f8ccfc782d8f3b8a6cc20d3f3a0a096856706d250f55de9c3
+  md5: d30aa3fc255942eba75c7ba53f809dbc
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros-jazzy-service-msgs
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - __glibc >=2.17,<3.0.a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: Apache-2.0
+  run_exports: {}
+  size: 242064
+  timestamp: 1788191491617
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-uncrustify-vendor-3.0.1-np2py312h2ed9cc7_21.conda
+  sha256: 4d9d7d254a5d681d4f8213de6f06782f63d5bb164c329a968cb9b534eb4f32c0
+  md5: 52f6d4d83fd13cf2f563d4ab04752aaa
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - uncrustify
+  - uncrustify >=0.78
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: Apache-2.0 OR GPL-2.0-only
+  run_exports: {}
+  size: 23319
+  timestamp: 1788189273208
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros-jazzy-unique-identifier-msgs-2.5.1-np2py312h2ed9cc7_21.conda
+  sha256: 76f708d840f606de727bd6fb8b36b090a46532fded6460a857b165f0a3b95cff
+  md5: 10b542ecd1e4187bfa20c7ee5dfab798
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  run_exports: {}
+  size: 76081
+  timestamp: 1788191420788
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-distro-mutex-0.16.0-jazzy_21.conda
+  sha256: 84b7fce5ea1e3c8c20d77c4ab97647bb2245c306cae73223d73390e748dbf7a7
+  md5: 4cfd5e2cea357b74697a74d611737254
+  constrains:
+  - libboost 1.90.*
+  - libboost-devel 1.90.*
+  - pcl 1.15.1.*
+  - gazebo 11.*
+  - libprotobuf 7.35.*
+  - vtk 9.6.2.*
+  license: BSD-3-Clause
+  run_exports:
+    weak:
+    - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  size: 2367
+  timestamp: 1788188700449
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-ros-workspace-1.0.3-np2py312h2ed9cc7_21.conda
+  sha256: 36e961989b266feb0bd7bb9eae54ad9e276ea6dd126da183e5a2af2c45003ba7
+  md5: 12fca9a4a5a20673cdf4281226b5c97a
+  depends:
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: Apache-2.0
+  run_exports: {}
+  size: 35443
+  timestamp: 1788257988960
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-rosidl-cli-4.6.9-np2py312h2ed9cc7_22.conda
+  sha256: ce8a03e9ff2cbd2ade7ee73c592007c2ca26a9a6b6c7ef3ff76b3a97f1983003
+  md5: 817fa3d6ec8043a1576e280d686d7aa8
+  depends:
+  - argcomplete
+  - importlib-metadata
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: Apache-2.0
+  run_exports: {}
+  size: 42819
+  timestamp: 1788509286643
diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 0000000..e1254dc
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,46 @@
+[workspace]
+name = "dynamic-stack-decider"
+channels = ["https://prefix.dev/robostack-jazzy", "conda-forge"]
+platforms = ["linux-64"]
+
+[dependencies]
+python = ">=3.12,<3.13"
+
+[feature.format.dependencies]
+pre-commit = ">=4,<5"
+ruff = "==0.16.10"
+
+[feature.format.tasks]
+format = "pre-commit run --all-files"
+lint = "pre-commit run --all-files --hook-stage manual"
+
+[feature.test.dependencies]
+pytest = ">=8,<9"
+pytest-cov = ">=6,<8"
+python-build = ">=1,<2"
+setuptools = ">=68,<81"
+wheel = ">=0.45,<1"
+pyyaml = ">=6,<7"
+
+[feature.test.tasks]
+test = { cmd = "pytest -p pytest_cov --cov=dynamic_stack_decider/dynamic_stack_decider --cov-report=term-missing", env = { PYTEST_DISABLE_PLUGIN_AUTOLOAD = "1" } }
+package = "python scripts/check_packages.py"
+
+[feature.ros.dependencies]
+ros-jazzy-rclpy = ">=7,<8"
+ros-jazzy-std-msgs = ">=5,<6"
+
+[feature.visualization.dependencies]
+pyqt = ">=5.15,<6"
+pydot = ">=3,<5"
+ros-jazzy-qt-dotgraph = "*"
+ros-jazzy-rqt-gui-py = "*"
+ros-jazzy-ament-index-python = "*"
+
+[feature.visualization.activation.env]
+QT_QPA_PLATFORM = "offscreen"
+
+[environments]
+default = ["test", "ros"]
+format = ["format"]
+visualization = ["test", "ros", "visualization"]
diff --git a/pyproject.toml b/pyproject.toml
index 3e23bc6..5e9a60c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,16 +1,12 @@
-[tool.black]
-line-length = 120
-
 [tool.ruff]
 line-length = 120
+target-version = "py310"
 
 [tool.ruff.lint]
- # Never enforce `E501` (line length violations), as black takes care of this.
 ignore = ["E501"]
-# Additionally enable the following rules
-# - pycodestyle warnings (`W`)
-# - flake8-bugbear warnings (`B`)
-# - isort import sorting (`I`)
-# - pep8-naming convenrtions (`N`)
-# - pyupgrade prefer newer language constructs (`UP`)
 select = ["F", "E", "B", "W", "I", "N", "UP"]
+
+[tool.pytest.ini_options]
+testpaths = ["dynamic_stack_decider/test", "dynamic_stack_decider_visualization/test"]
+pythonpath = ["dynamic_stack_decider", "dynamic_stack_decider_visualization"]
+addopts = "--strict-config --strict-markers -ra"
diff --git a/scripts/check_packages.py b/scripts/check_packages.py
new file mode 100644
index 0000000..a1ca1ee
--- /dev/null
+++ b/scripts/check_packages.py
@@ -0,0 +1,30 @@
+"""Build distributions and check their contents without modifying the environment."""
+
+import subprocess
+import sys
+import tempfile
+import zipfile
+from pathlib import Path
+
+
+def main() -> None:
+    root = Path(__file__).resolve().parents[1]
+    for name in ("dynamic_stack_decider", "dynamic_stack_decider_visualization"):
+        with tempfile.TemporaryDirectory() as directory:
+            subprocess.run(
+                [sys.executable, "-m", "build", "--no-isolation", "--outdir", directory, str(root / name)],
+                check=True,
+            )
+            wheel = next(Path(directory).glob("*.whl"))
+            with zipfile.ZipFile(wheel) as archive:
+                files = archive.namelist()
+                assert f"{name}/__init__.py" in files
+                assert not any(path.startswith(("test/", "tests/")) for path in files)
+                assert any(path.endswith("/package.xml") for path in files)
+                if name.endswith("visualization"):
+                    assert any(path.endswith("/resource/StackmachineViz.ui") for path in files)
+                    assert any(path.endswith("/plugin.xml") for path in files)
+
+
+if __name__ == "__main__":
+    main()